U-Xuan Tan,Bo Yang,Rao Gullapalli et al.
U-Xuan Tan et al.
Magnetic resonance imaging (MRI) has been gaining popularity over standard imaging modalities like ultrasound and CT because of its ability to provide excellent soft-tissue contrast. However, due to the working principle of MRI, a number of...
A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots [0.03%]
一种用于外载荷计算的同心管连续体机器人几何精确模型
D Caleb Rucker,Bryan A Jones,Robert J Webster rd
D Caleb Rucker
Continuum robots, which are composed of multiple concentric, precurved elastic tubes, can provide dexterity at diameters equivalent to standard surgical needles. Recent mechanics-based models of these "active cannulas" are able to accuratel...
Pierre E Dupont,Jesse Lock,Brandon Itkowitz et al.
Pierre E Dupont et al.
A novel approach toward construction of robots is based on a concentric combination of precurved elastic tubes. By rotation and extension of the tubes with respect to each other, their curvatures interact elastically to position and orient ...
Impairment-Based 3-D Robotic Intervention Improves Upper Extremity Work Area in Chronic Stroke: Targeting Abnormal Joint Torque Coupling With Progressive Shoulder Abduction Loading [0.03%]
基于损伤的三维机器人介入改善慢性卒中上肢作业范围：通过逐步肩关节外展负荷针对异常的关节力矩耦合
Michael D Ellis,Theresa M Sukal-Moulton,Julius P A Dewald
Michael D Ellis
The implementation of a robotic system (ACT(3D)) that allowed for a quantitative measurement of abnormal joint torque coupling in chronic stroke survivors and, most importantly, a quantitative means of initiating and progressing an impairme...
Friction Compensation for Enhancing Transparency of a Teleoperator with Compliant Transmission [0.03%]
基于 compliant 传动的力反馈遥操系统的透明度增强摩擦补偿研究
Mohsen Mahvash,Allison Okamura
Mohsen Mahvash
This article presents a model-based compensator for canceling friction in the tendon-driven joints of a haptic-feedback teleoperator. Unlike position-tracking systems, a teleoperator involves an unknown environment force that prevents the u...
Vinutha Kallem,Noah J Cowan
Vinutha Kallem
Image guidance promises to improve targeting accuracy and broaden the scope of medical procedures performed with needles. This paper takes a step toward automating the guidance of a flexible tip-steerable needle as it is inserted into human...
A Miniature Mobile Robot for Navigation and Positioning on the Beating Heart [0.03%]
一种在跳动的心脏上进行导航和定位的微型机器人
Nicholas A Patronik,Takeyoshi Ota,Marco A Zenati et al.
Nicholas A Patronik et al.
Robotic assistance enhances conventional endoscopy; yet, limitations have hindered its mainstream adoption for cardiac surgery. HeartLander is a miniature mobile robot that addresses several of these limitations by providing precise and sta...